A method for measuring sample cross-sectional dimensions based on a manipulator

Abstract

The present invention discloses a method for measuring the cross-sectional dimensions of a specimen based on a manipulator. A specimen measuring device is arranged on one side of a testing machine, and a manipulator is arranged in front of the testing machine. The manipulator drives a specimen grabbing mechanism arranged at its working end to clamp the specimen, and then sends the specimen into the specimen measuring device to measure the dimensions of the specimen. The control system calculates the cross-sectional dimensions of the specimen. After the measurement is completed, the manipulator drives the specimen grabbing mechanism to send the specimen into a testing station of the testing machine. A manipulator is used to replace manual clamping of the specimen, and then the specimen is sent into the specimen measuring device. Through the cooperation of the manipulator, a laser displacement sensor and a control system, the cross-sectional dimensions of the specimen are quickly measured. After the measurement is completed, the specimen can also be sent into the testing station of the testing machine, and the waste specimen after the test can be clamped from the testing station and sent into a waste box. The entire process of the test does not require manual intervention, has a high degree of automation, low labor intensity for testers, and a high overall test efficiency of the testing machine.

Description

Technical Field

[0001] The invention relates to a test piece size measurement method, in particular to the measurement of the cross-sectional size of a tensile test piece in a material tensile test, and belongs to the technical field of test equipment. Background Art

[0002] In the field of material mechanics testing, the preparatory work before the test includes measuring the cross-sectional dimensions of the specimen, such as width, thickness and diameter of circular specimens, etc. The accuracy of the original cross-sectional dimensions is crucial to the test results. Traditional tensile testing machines do not have a specimen cross-sectional measurement mechanism. Before testing the specimen, the specimen cross-sectional dimensions are usually measured manually. Ordinary measuring tools such as vernier calipers and micrometers are used to measure the width and thickness of the specimen and the diameter of the circular specimen, and then they are manually entered into the corresponding computer software system for the calculation of the test results. Obviously, manual measurement is not only cumbersome and inefficient, but also due to different techniques and visual errors of inspectors, it will bring large errors to the measurement of specimen dimensions, low measurement accuracy, and greater influence of human factors. Different testers may record different data. Therefore, manual measurement of specimen dimensions not only seriously affects the test accuracy of the specimen, but also reduces the test efficiency and has high labor intensity.

[0003] In order to solve the above problems, some people have proposed corresponding solutions and developed automatic measurement systems. By integrating grating rulers, laser beam sensors, etc. into automatic control mechanisms, high-precision and automated measurements are achieved. For example, the patent document CN208269828U provides an automatic cross-section measurement device, which includes a sample support for placing samples, a measuring head and a servo slide. The measuring head can emit a measurement signal in the direction parallel to the cross section of the sample. The servo slide is arranged on the left and right sides of the sample support. The upper end of the slider of the servo slide is fixedly connected with a sliding plate. The servo slide drives the test head to move left and right along the axis of the sample through the sliding plate. The sample support is a U-shaped bracket structure. The two top surfaces of the sample support are concave to form a receiving groove. The two ends of the sample are placed in the receiving groove accordingly. The measuring device adopts a structure in which the sample does not move and the measuring head moves or rotates to measure the cross section of the sample at multiple points and different angles. The sample is accurately measured using a high-precision measuring sensor, and the measurement data is accurate; the cross section is automatically measured, and the data is automatically recorded and calculated, which reduces labor fatigue and improves efficiency. The disadvantage is that during measurement, the sample needs to be placed manually or by a robot in the receiving slot of the sample support for positioning before measurement, which undoubtedly reduces the degree of automation. After the measurement is completed, the sample is placed on the test fixture of the testing machine manually or by a robot. Since the test needs to be repeated many times, the existing sample measurement method cannot keep up with the operating rhythm of the fully automatic testing machine, reducing the overall test efficiency. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a method for measuring the cross-sectional dimensions of a sample based on a manipulator, which has a simple and reliable structure, accurate detection results and high detection efficiency.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for measuring the cross-sectional dimensions of a specimen based on a manipulator, characterized in that: a specimen measuring device is arranged on one side of a testing machine, a manipulator is arranged in front of the testing machine, a specimen grabbing mechanism is arranged at the working end of the manipulator, the manipulator drives the specimen grabbing mechanism to clamp the specimen from a specimen storage rack, and then sends the specimen to the specimen measuring device, measures the dimensions of the specimen, and the control system calculates the cross-sectional dimensions of the specimen; after the measurement is completed, the manipulator drives the specimen grabbing mechanism to send the specimen to the testing station of the testing machine.

[0007] The above-mentioned method for measuring the cross-sectional dimensions of a sample based on a manipulator comprises the following steps:

[0008] S1: The manipulator drives the sample grabbing mechanism to grab the sample from the sample storage rack;

[0009] S2: The manipulator drives the sample grabbing mechanism to deliver the sample to the initial zero point position of the sample measurement;

[0010] S3: The manipulator drives the sample grabbing mechanism to move according to the three-dimensional measurement motion coordinate system, and sends the sample to the sample measuring device along the Y1 axis. The horizontal measurement component and the vertical measurement component start measuring the sample at the same time, and obtain the distance b1 between the left laser displacement sensor and the sample, the distance b2 between the right laser displacement sensor and the sample, the distance h1 between the upper laser displacement sensor and the sample, and the distance h2 between the lower laser displacement sensor and the sample, and automatically upload the measurement data to the control system;

[0011] S4: The control system calculates the width dimension B1 and the thickness dimension H1 of the first measurement position on the sample according to the following formula and the distance B0 between the left laser displacement sensor and the right laser displacement sensor and the distance H0 between the upper laser displacement sensor and the lower laser displacement sensor:

[0012] B1=B0-b1-b2; H1=H0-h1-h2;

[0013] S5: The manipulator drives the sample grabbing mechanism to continue moving along the Y1 axis, and sends the sample to the sample measuring device. The horizontal measuring component and the vertical measuring component start measuring the sample at the same time, and obtain the distance b3 between the left laser displacement sensor and the sample, the distance b4 between the right laser displacement sensor and the sample, the distance h3 between the upper laser displacement sensor and the sample, and the distance h4 between the lower laser displacement sensor and the sample, and automatically upload the measurement data to the control system;

[0014] S6: The control system calculates the width dimension B2 and thickness dimension H2 of the second measurement position on the sample according to the following formula:

[0015] B2=B0-b3-b4; H2=H0-h3-h4;

[0016] S7: The control system automatically calculates the average value of B1 and B2 to obtain the width dimension of the sample; it automatically calculates the average value of H1 and H2 to obtain the thickness dimension of the sample;

[0017] S8: The manipulator drives the sample grabbing mechanism and the sample to return to the initial zero point position of the sample measurement;

[0018] S9: The manipulator drives the sample grabbing mechanism to send the sample into the test station of the testing machine and release the sample;

[0019] S10: The working end of the manipulator returns to the origin position;

[0020] S11: The manipulator drives the sample grabbing mechanism to grab the sample waste after the test from the test station and send it into the waste box;

[0021] S12: Repeat steps S1-S11 to measure and test the next specimen.

[0022] By adopting the above technical solution, the manipulator replaces manual labor to pick up the sample from the sample storage place, and then sends the sample to the sample measuring device. The coordinated use of the manipulator, laser displacement sensor and control unit realizes the rapid measurement of the sample cross-sectional dimensions, reducing the labor intensity of the tester; the sample measuring device includes a horizontal measurement component and a vertical measurement component, which can measure the thickness and width of the sample at the same time, with high measurement efficiency, and the measurement data can be automatically uploaded to the control system. After the cross-sectional dimensions of the sample are measured, the sample can also be sent to the test station of the testing machine, and the waste sample after the test can be clamped from the test station and sent to the waste box, so that the whole process of the test does not require manual intervention, and the sample can be clamped, measured, sent to the testing machine for testing, and the test waste can be collected. The degree of automation is high, the labor intensity of the tester is low, and the overall test efficiency of the testing machine is high.

[0023] Furthermore, in the method for measuring the cross-sectional dimensions of a sample based on a manipulator, between S2 and S3, there is also a step:

[0024] S21: The manipulator drives the sample grabbing mechanism to move according to the three-dimensional measurement motion coordinate system, and sends the sample to the front side of the sample measuring device and below the QR code / barcode scanner along the Y1 axis;

[0025] S22: The QR code / barcode scanner scans the QR code / barcode on the sample, obtains relevant information of the sample and uploads it to the control system.

[0026] By adopting the above technical solution, when the robot grips the sample and sends it into the specimen measuring device, the QR code / barcode scanner scans the QR code / barcode on the sample, and the scanned information such as the sample's sending unit, batch, number, sample material, nominal length, etc. is transmitted to the control system, which facilitates the subsequent sample circulation, dimensional measurement data and tensile test data management, and also reduces the tedious work of the tester.

[0027] In the above-mentioned method for measuring the cross-sectional dimensions of a sample based on a manipulator, before S1, there is also a step of:

[0028] S01: Initial state:

[0029] The horizontal measurement component and the vertical measurement component are installed in place; the laser beam emitted by the left laser displacement sensor of the horizontal measurement component and the laser beam emitted by the right laser displacement sensor are adjusted so that they are on a horizontal X-axis axis; the laser beam emitted by the upper laser displacement sensor of the vertical measurement component and the laser beam emitted by the lower laser displacement sensor are on a vertical Z-axis axis; a three-dimensional measurement coordinate system having an X-axis, a Y-axis, and a Z-axis is set, and the Y-axis is perpendicular to the X-axis and the Z-axis in pairs; the X-axis and the Y-axis are located in a preset horizontal measurement plane, and the Y-axis and the Z-axis are located in a preset vertical measurement plane;

[0030] Set the initial zero point position of the sample measurement: move the sample gripping mechanism connected to the working end of the manipulator to the front of the sample measuring device, and adjust it up and down so that the center plane of the thickness direction of the clamped sample is located in the plane where the X1 axis and the Y1 axis are located, and the length direction of the sample is parallel to the Y1 axis; then adjust it left and right so that the center plane of the width direction of the clamped sample is located in the plane where the Y1 axis and the Z1 axis are located, and record the coordinates of the manipulator at this time, which are the coordinates of the initial zero point position of the sample measurement; the X1 axis and the Y1 axis are located in the horizontal measurement plane preset in the three-dimensional measurement coordinate system, and the Y1 axis and the Z1 axis are located in the vertical measurement plane preset in the three-dimensional measurement coordinate system;

[0031] S02: The samples are regularly stacked on the sample storage rack, and the samples are labeled with QR codes / bar codes at the specified positions;

[0032] S03: The working end of the robot is at the origin.

[0033] By adopting the above technical solution, four laser displacement sensors are installed on the upper part of the bracket, forming a measurement coordinate system in which the X-axis, Y-axis and Z-axis are perpendicular to each other, providing a position reference for the robot to send in the sample, thereby ensuring the measurement accuracy of the specimen.

[0034] In the above-mentioned manipulator-based sample cross-sectional dimension measurement method, the sample measuring device includes a bracket, the horizontal measuring component and the vertical measuring component are arranged on the upper part of the bracket, and the QR code / barcode scanner is arranged on the top of the bracket.

[0035] In the above-mentioned manipulator-based sample cross-sectional dimension measurement method, the horizontal measurement component includes a pair of left laser displacement sensor and right laser displacement sensor arranged opposite to each other left and right, and the vertical measurement component includes a pair of upper laser displacement sensor and lower laser displacement sensor arranged opposite to each other up and down; the upper, lower, left and right four laser displacement sensors form an open cross structure, and the sample can pass between the four laser displacement sensors.

[0036] In the above-mentioned manipulator-based specimen cross-sectional dimension measurement method, the specimen grasping mechanism includes a parallel pneumatic finger cylinder, and the two parallel clamping jaws of the pneumatic finger cylinder are respectively connected to the first clamping plate and the second clamping plate, the rear ends of the first clamping plate and the second clamping plate are connecting parts, and the front ends are working parts, and the connecting parts are connected to the parallel clamping jaws; the pneumatic finger cylinder drives the two parallel clamping jaws to move toward or away from each other, driving the first clamping plate and the second clamping plate to clamp the specimen or release the specimen.

[0037] Furthermore, a rubber pad is provided on the side where the working part of the first clamping plate faces the working part of the second clamping plate.

[0038] By adopting the above technical solution, the rubber pad is made of a wear-resistant rubber block with a Shore hardness of 70 degrees, which not only ensures the rigidity required when clamping the sample, but also increases the friction resistance with the contact surface of the sample to prevent the sample from shifting or even sliding or falling off.

[0039] In the above-mentioned method for measuring the cross-sectional dimensions of a specimen based on a manipulator, a V-shaped groove is symmetrically provided on one side where the working portion of the first clamping plate and the working portion of the second clamping plate face each other.

[0040] By adopting the above technical solution, V-shaped grooves are symmetrically arranged on the side facing the working part of the first clamping plate and the working part of the second clamping plate, which is suitable for clamping a circular cross-section sample. The V-shaped groove plays a positioning role. When the V-shaped groove contacts the sample during the clamping process, the sample will be limited, so that the sample gradually moves to the middle of the first clamping plate and the second clamping plate, thereby ensuring coaxiality and improving measurement accuracy.

[0041] Furthermore, the manipulator adopts a six-axis robot, and the pneumatic finger cylinder is connected to the wrist of the robot through a fixture adapter plate.

[0042] In the above technical solution, the manipulator adopts a six-axis robot, and a fixture adapter plate is set between the robot's wrist and the pneumatic finger cylinder, which can easily connect the pneumatic finger cylinder to the robot's wrist, so that the pneumatic finger cylinder has 6 degrees of freedom, can move horizontally and left and right at the same time, and has a high efficiency in grasping and releasing the test piece. It has fast speed, high efficiency, relatively simple structure, and is easy to install, use and maintain.

[0043] Beneficial effects:

[0044] The sample cross-sectional dimension measuring method based on a manipulator of the present invention adopts a manipulator to replace manual labor to clamp the sample from the sample storage place, and then sends the sample to a sample measuring device. The coordinated use of the manipulator, the laser displacement sensor and the control unit realizes the rapid measurement of the sample cross-sectional dimension. After the measurement, the sample can also be sent to the test station of the testing machine, and the waste sample after the test can be clamped from the test station and sent to the waste box, so that the whole process of the test can realize the clamping, measurement, sending to the testing machine for detection and collection of test waste without manual intervention, with a high degree of automation, low labor intensity of the tester and high overall test efficiency of the testing machine.

[0045] The specimen measuring device includes a horizontal measuring component and a vertical measuring component, both of which use high-precision laser displacement sensors to measure the thickness and width of the specimen at the same time, thereby automatically completing the dimensional measurement of different parts of the specimen without manual intervention or operation, greatly reducing the labor intensity and operation time of the tester, improving the efficiency of specimen measurement, and facilitating large-scale measurement. It also effectively eliminates the error of human measurement and the measurement data is accurate.

[0046] The measured data can be automatically uploaded to the control system, which automatically records the data and performs calculations, with accurate results, reducing manual calculation errors and increasing the credibility of the data.

[0047] In summary, the method for measuring the cross-sectional dimensions of a specimen based on a manipulator provided by the present invention has high measurement accuracy, high efficiency, high speed, and high intelligence; it can be well matched with a fully automatic testing machine for better intelligence. At the same time, the present invention has a simple structure, stable and reliable operation, and is not only suitable for measuring rectangular cross-sectional specimens, but also for measuring circular cross-sectional specimens. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the present invention applied to a sample tensile test detection system.

[0049] Figure 2 This is a schematic diagram of a manipulator gripping a sample and sending it into a test piece measuring device in the present invention.

[0050] Figure 3 It is a front side schematic diagram of the sample and test piece measuring device in the present invention.

[0051] Figure 4 It is a schematic diagram of the rear side of the specimen measuring device in the present invention.

[0052] Figure 5 This is a schematic diagram of the robot gripping a sample and preparing to send it into a testing machine in the present invention.

[0053] Figure 6 It is a schematic diagram of the pneumatic finger cylinder, the first clamping plate and the second clamping plate in the present invention.

[0054] Figure 7 It is a schematic diagram of another embodiment of the pneumatic finger cylinder, the first clamping plate and the second clamping plate in the present invention.

[0055] Figure 8 This is a schematic diagram of Embodiment 2 of the present invention.

[0056] In the figure: 1 control system, 2 sample storage rack,

[0057] 3 specimen measuring device, 31 bracket, 32 two-dimensional code / barcode scanner, 33 measuring box, 331 first sensor bracket, 332 left laser displacement sensor, 333 right laser displacement sensor, 334 second sensor bracket, 335 upper laser displacement sensor, 336 lower laser displacement sensor, 34 front box plate, 35 rear box plate,

[0058] 4 testing machine, 5 manipulator, 6 qualified sample waste box, 7 unqualified sample waste box, 8 sample,

[0059] 9 sample grabbing mechanism, 91 fixture adapter plate, 92 pneumatic finger cylinder, 921 clamping claw, 93 first clamping plate, 94 second clamping plate, 95 rubber pad, 96 V-shaped groove,

[0060] 10 Second test machine. DETAILED DESCRIPTION

[0061] In order to clearly illustrate the technical features of the present invention, the present invention is further described below through non-limiting embodiments in conjunction with the accompanying drawings.

[0062] The front, rear, left and right directions described in the present invention are described based on the front, rear, left and right directions shown in the accompanying drawings. For ease of description, only the parts related to the embodiments of the present invention are shown.

[0063] Embodiment 1:

[0064] The size of the test piece involved in this embodiment is 300×20×10 mm.

[0065] A method for measuring the cross-sectional dimensions of a sample based on a manipulator, wherein the method uses an automatic cross-sectional dimension measuring system of the sample to measure the cross-sectional dimensions of the sample;

[0066] Please see Figures 1 to 7 , an automatic measuring system for the cross-sectional dimensions of a specimen, comprising a specimen measuring device 3, a manipulator 5 and a control system 1, wherein the specimen measuring device 3 is located on the right side of a testing machine 4, the manipulator 5 is located directly in front of the testing machine 4, a specimen storage rack 2 is arranged in front of the testing machine 4, specimens 8 are regularly stacked on the specimen storage rack 2, and a QR code / barcode is attached to the specimen 8 at a specified position, and information such as the sending unit, batch, number, specimen material, and nominal length of the specimen can be obtained by reading the QR code / barcode; a qualified specimen waste box 6 and an unqualified specimen waste box 7 are arranged on the left side of the manipulator 5;

[0067] The specimen measuring device 3 comprises a bracket 31, a measuring box 33 is arranged on the upper part of the bracket 31, a horizontal measuring component and a vertical measuring component are arranged in the measuring box 33, and a QR code / barcode scanner 32 is arranged on the top of the bracket 31;

[0068] A first sensor bracket 331 and a second sensor bracket 334 are arranged in the measuring box 33; the horizontal measuring component comprises a pair of left laser displacement sensor 332 and right laser displacement sensor 333 mounted on the first sensor bracket 331 facing each other left and right; the vertical measuring component comprises an upper laser displacement sensor 335 and a lower laser displacement sensor 336 mounted on the second sensor bracket 334 facing each other up and down; the four upper, lower, left and right laser displacement sensors form an open cross structure; the front box plate 34 and the rear box plate 35 of the measuring box 33 are both provided with through holes which penetrate from front to back, and the sample 8 can pass through the through holes and the four laser displacement sensors.

[0069] Each laser displacement sensor includes a laser emitting end and a laser receiving end. The upper, lower, left and right laser displacement sensors in the measuring box 33 need to be adjusted as follows after installation: the left laser displacement sensor 332 and the right laser displacement sensor 333 are located on the same horizontal plane; the laser beam emitted by the laser generator of the left laser displacement sensor 332 and the laser beam emitted by the laser generator of the right laser displacement sensor 333 are on a horizontal X-axis axis; the laser beam emitted by the laser generator of the upper laser displacement sensor 335 and the laser beam emitted by the laser generator of the lower laser displacement sensor 336 are on a horizontal X-axis axis. The distance between the laser generator of the left laser displacement sensor 332 and the laser generator of the right laser displacement sensor 333 is B0, and the distance between the laser generator of the upper laser displacement sensor 335 and the laser generator of the lower laser displacement sensor 336 is H0; a three-dimensional measurement coordinate system with an X-axis, a Y-axis, and a Z-axis is set, and the Y-axis is perpendicular to the X-axis and the Z-axis; the X-axis and the Y-axis are located in a preset horizontal measurement plane, and the Y-axis and the Z-axis are located in a preset vertical measurement plane, and the laser displacement sensor can measure the distance between the laser displacement sensor and the sample 8. When measuring the cross-sectional dimensions of the sample 8, the length direction of the sample 8 is parallel to the Y-axis, the center plane of the thickness direction of the sample 8 is located in the preset horizontal measurement plane, and the center plane of the width direction of the sample 8 is located in the preset vertical measurement plane. In this way, when measuring the dimensions, the laser beam emitted by the laser generator of the laser displacement sensor can face the measured surface of the sample 8 and is located on the center line of the sample 8, that is, no matter how thick the sample is, the test position is always located on the center line of the thickness direction, and the measured data is accurate and stable.

[0070] Principle of sample size measurement: Taking width size measurement as an example, first measure the distance B0 (i.e., no-load distance) between the left laser displacement sensor 332 and the right laser displacement sensor 333. After the sample 8 enters the middle of the measuring device, the laser light beams emitted by the laser emitting ends of the left and right laser displacement sensors are reflected by the surface of the sample 8 and then received by the laser receiving end to detect the distances b1 and b2 (i.e., load distances) between the laser displacement sensors and the surface of the sample 8. The width size of the sample 8 is obtained by subtracting the corresponding load distances on both sides from the no-load distance.

[0071] In this embodiment, the manipulator 5 adopts a six-axis robot, and the wrist of the six-axis robot is connected to the sample grasping mechanism 9 through the clamp adapter plate 91, including a pneumatic finger cylinder 92 and a first clamp plate 93 and a second clamp plate 94 connected to the two parallel clamps 921 of the pneumatic finger cylinder 92. In this embodiment, a double-acting parallel pneumatic finger cylinder is adopted. The clamp adapter plate 91 is flange-shaped and has multiple bolt holes on it. The bolts fix one end of the clamp adapter plate 91 to the wrist of the robot, and the pneumatic finger cylinder 92 is connected to the other end of the clamp adapter plate 91.

[0072] The rear ends of the first clamping plate 93 and the second clamping plate 94 are the connecting parts, and the front ends are the working parts. The connecting parts are connected to the parallel clamping jaws 921 by conventional connection methods such as bolts and pins. In this embodiment, the side of the working part of the first clamping plate 93 facing the working part of the second clamping plate 94 is the clamping surface, and a rubber pad 95 is provided on the clamping surface, which is suitable for clamping rectangular cross-section specimens. If V-shaped grooves 96 are symmetrically provided on the side of the working part of the first clamping plate 93 facing the working part of the second clamping plate 94, it is suitable for clamping circular cross-section specimens.

[0073] After the three-dimensional measurement coordinate system is established, a three-dimensional measurement motion coordinate system of a six-axis robot having an X1 axis, a Y1 axis, and a Z1 axis is set, and the initial zero point position of the sample measurement is used as the origin position of the three-dimensional measurement motion coordinate system; wherein the X1 axis and the Y1 axis are located in a preset horizontal measurement plane in the three-dimensional measurement coordinate system, and the Y1 axis and the Z1 axis are located in a preset vertical measurement plane in the three-dimensional measurement coordinate system;

[0074] Set the initial zero point position of the sample measurement: move the sample gripping mechanism 9 connected to the robot wrist to the front of the sample measuring device 3, and adjust it up and down so that the clamping surfaces of the first clamping plate 93 and the second clamping plate 94 are parallel to the X1 axis and the Y1 axis, and the clamping surface of the first clamping plate 93 and the clamping surface of the second clamping plate 94 are symmetrical about the plane where the X1 axis and the Y1 axis are located; then adjust it left and right so that the center plane of the width direction of the clamped sample 8 is located in the plane where the Y1 axis and the Z1 axis are located, and record the coordinates of the robot at this time, which are the coordinates of the initial zero point position of the sample measurement.

[0075] The testing machine 4, the robot, the QR code / barcode scanner 32, and the laser displacement sensor are all connected to the control system 1. The pneumatic finger cylinder 92 is connected to the air source through a pipeline and a solenoid valve, and the solenoid valve is connected to the control system 1.

[0076] In this embodiment, the control system 1 uses a host computer software + PLC control system, which is a prior art and will not be described in detail.

[0077] In this embodiment, the robot drives the sample grabbing mechanism 9 to clamp the sample 8 from the sample storage rack 2, and then moves according to the three-dimensional measurement motion coordinate system, and sends the sample 8 to the front side of the sample measuring device 3 along the Y1 axis; the two-dimensional code / barcode scanner 32 scans the barcode on the sample 8 to obtain relevant information of the sample 8; the robot drives the sample grabbing mechanism 9 to continue to move along the Y1 axis, and sends the sample 8 to the sample measuring device 3; the horizontal measurement component and the vertical measurement component start measuring the sample 8 at the same time, and automatically upload the measurement data to the control system 1, and the control system 1 automatically calculates the width of the sample 8 size, thickness size; the robot drives the sample grabbing mechanism 9 to send the sample 8 into the test station of the testing machine 4 and release the sample 8; the robot drives the sample grabbing mechanism 9 to clamp the waste sample after the test from the test station and send it into the waste box; the above actions are all controlled by the control system 1 of the industrial computer; the specific control programming process is designed according to the characteristics of the measured sample 8 and the needs of actual operation, which does not belong to the structural scope of the present invention, and the circuit layout and connection to realize the control can be designed according to the hardware structure of the present invention, combined with the purpose of the action and overcome with the help of common sense in the field of electronic control, so it will not be described in detail.

[0078] This measurement system is used in conjunction with a fully automatic testing machine for testing the mechanical properties of the specimen. The workflow of the entire system is as follows:

[0079] (1) Initial state: the robot’s wrist is at the origin;

[0080] (2) The robot drives the sample grabbing mechanism 9 to grab the sample 8 from the sample storage rack 2;

[0081] (3) The robot drives the sample grabbing mechanism 9 to deliver the sample 8 to the initial zero point position of the sample measurement;

[0082] (4) The robot drives the sample grabbing mechanism 9 to move according to the three-dimensional measurement motion coordinate system, and delivers the sample 8 to the front side of the sample measuring device 3 and below the two-dimensional code / barcode scanner 32 along the Y1 axis;

[0083] (5) The QR code / barcode scanner 32 scans the QR code / barcode on the sample 8, obtains relevant information of the sample 8 and uploads it to the control system 1;

[0084] (6) The robot drives the sample grabbing mechanism 9 to continue to move along the Y1 axis, and delivers the sample 8 to the sample measuring device 3. The horizontal measuring component and the vertical measuring component simultaneously start measuring the sample 8, and obtain the distance b1 between the left laser displacement sensor 332 and the sample 8, the distance b2 between the right laser displacement sensor 333 and the sample 8, the distance h1 between the upper laser displacement sensor 335 and the sample 8, and the distance h2 between the lower laser displacement sensor 336 and the sample 8, and automatically upload the measurement data to the control system 1;

[0085] (7) The control system 1 calculates the width dimension B1 and the thickness dimension H1 of the first measurement position on the sample 8 according to the following formula:

[0086] B1=B0-b1-b2; H1=H0-h1-h2;

[0087] (8) The robot drives the sample grabbing mechanism 9 to continue to move along the Y1 axis, and sends the sample 8 to the second measurement position. The horizontal measurement component and the vertical measurement component simultaneously start to measure the sample 8, and obtain the distance b3 between the left laser displacement sensor 332 and the sample 8, the distance b4 between the right laser displacement sensor 333 and the sample 8, the distance h3 between the upper laser displacement sensor 335 and the sample 8, and the distance h4 between the lower laser displacement sensor 336 and the sample 8, and automatically upload the measurement data to the control system 1;

[0088] (9) The control system 1 calculates the width dimension B2 and the thickness dimension H2 of the second measurement position on the sample 8 according to the following formula:

[0089] B2=B0-b3-b4; H2=H0-h3-h4;

[0090] (10) The control system 1 automatically calculates the average value of B1 and B2 to obtain the width dimension of the sample 8; and automatically calculates the average value of H1 and H2 to obtain the thickness dimension of the sample 8;

[0091] (11) The robot drives the sample grabbing mechanism 9 and the sample 8 to return to the initial zero position of the sample measurement;

[0092] (12) The robot drives the sample grabbing mechanism 9 to deliver the sample 8 to the testing station of the testing machine 4 and releases the sample 8;

[0093] (13) The robot returns to its initial state;

[0094] (14) The robot drives the sample grabbing mechanism 9 to pick up the waste sample after the test from the test station and send it into the waste box;

[0095] (15) Repeat steps (2) to (14) to measure and test the next specimen.

[0096] In this embodiment, the dimensions of the sample 8 are measured at two measurement positions, and the average dimensions of the sample cross section are calculated after the two measurement data are input into the system. According to the test requirements, the robot can drive the sample grabbing mechanism 9 to shift multiple times along the Y1 axis, perform multiple measurements, and the average dimensions of the sample cross section are calculated after the multiple measurement data are input into the system.

[0097] Embodiment 2:

[0098] A method for measuring the cross-sectional dimensions of a specimen based on a manipulator, wherein the method uses another automatic measuring system for the cross-sectional dimensions of the specimen to measure the cross-sectional dimensions of the specimen;

[0099] Please see Figures 2 to 8 A system for automatically measuring the cross-sectional dimensions of a specimen includes two testing machines 4 and a second testing machine 10 arranged in parallel, a specimen measuring device 33 is located on the right side of the testing machine 4, a manipulator 5 is located directly in front of the testing machine 4 and the second testing machine 10, and the remaining structure is the same as that of the first embodiment.

[0100] Workflow:

[0101] (1) Initial state: the robot’s wrist is at the origin;

[0102] (2) The robot drives the sample grabbing mechanism 9 to grab the sample 8 from the sample storage rack 2;

[0103] (3) The robot drives the sample grabbing mechanism 9 to deliver the sample 8 to the initial zero point position of the sample measurement;

[0104] (4) The robot drives the sample grabbing mechanism 9 to move according to the three-dimensional measurement motion coordinate system, and delivers the sample 8 to the front side of the sample measuring device 3 and below the two-dimensional code / barcode scanner 32 along the Y1 axis;

[0105] (5) The QR code / barcode scanner 32 scans the QR code / barcode on the sample 8, obtains relevant information of the sample 8 and uploads it to the control system 1;

[0106] (6) The robot drives the sample grabbing mechanism 9 to continue to move along the Y1 axis, and delivers the sample 8 to the sample measuring device 3. The horizontal measuring component and the vertical measuring component simultaneously start measuring the sample 8, and obtain the distance b1 between the left laser displacement sensor 332 and the sample 8, the distance b2 between the right laser displacement sensor 333 and the sample 8, the distance h1 between the upper laser displacement sensor 335 and the sample 8, and the distance h2 between the lower laser displacement sensor 336 and the sample 8, and automatically upload the measurement data to the control system 1;

[0107] (7) The control system 1 calculates the width dimension B1 and the thickness dimension H1 of the first measurement position on the sample 8 according to the following formula:

[0108] B1=B0-b1-b2; H1=H0-h1-h2;

[0109] (8) The robot drives the sample grabbing mechanism 9 to continue to move along the Y1 axis, and sends the sample 8 to the second measurement position. The horizontal measurement component and the vertical measurement component simultaneously start to measure the sample 8, and obtain the distance b3 between the left laser displacement sensor 332 and the sample 8, the distance b4 between the right laser displacement sensor 333 and the sample 8, the distance h3 between the upper laser displacement sensor 335 and the sample 8, and the distance h4 between the lower laser displacement sensor 336 and the sample 8, and automatically upload the measurement data to the control system 1;

[0110] (9) The control system 1 calculates the width dimension B2 and the thickness dimension H2 of the second measurement position on the sample 8 according to the following formula:

[0111] B2=B0-b3-b4; H2=H0-h3-h4;

[0112] (10) The control system 1 automatically calculates the average value of B1 and B2 to obtain the width dimension of the sample 8; and automatically calculates the average value of H1 and H2 to obtain the thickness dimension of the sample 8;

[0113] (11) The robot drives the sample grabbing mechanism 9 and the sample 8 to return to the initial zero position of the sample measurement;

[0114] (12) The robot drives the sample grabbing mechanism 9 to deliver the sample 8 to the testing station of the testing machine 4 and releases the sample 8;

[0115] (13) Repeat steps (2) to (11);

[0116] (14) The robot drives the sample grabbing mechanism 9 to deliver the sample 8 to the testing station of the second testing machine 10 and releases the sample 8;

[0117] (15) The robot returns to its initial state;

[0118] (16) The robot drives the sample grabbing mechanism 9 to pick up the waste sample after the test from the test station of the testing machine 4 and send it into the waste box;

[0119] (17) Repeat steps (2) to (12);

[0120] (18) The robot returns to its initial state;

[0121] (19) The robot drives the sample grabbing mechanism 9 to pick up the waste sample after the test from the test station of the second testing machine 10 and send it into the waste box;

[0122] (20) Repeat steps (2) to (11);

[0123] (21) Repeat step (14);

[0124] (22) The robot returns to its initial state;

[0125] (23) Repeat steps (2) to (22) to continue with the subsequent specimen measurements and tests.

[0126] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "left", "right", "front", "back", "up", "down", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings. The above terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0127] Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0128] Except for the technical features described in the specification, all other technical features are known technologies to those skilled in the art.

[0129] The above-listed implementation methods are only for the purpose of understanding the present invention and are not intended to limit the technical solutions described in the present invention. Ordinary technicians in the relevant fields can make various changes or modifications based on the technical solutions described in the claims. All equivalent changes or modifications should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for measuring the cross-sectional dimensions of a specimen based on a manipulator, characterized in that: A specimen measuring device is arranged on one side of the testing machine, a manipulator is arranged in front of the testing machine, a specimen grabbing mechanism is arranged at the working end of the manipulator, the manipulator drives the specimen grabbing mechanism to clamp the specimen from the specimen storage rack, and then sends the specimen to the specimen measuring device, measures the size of the specimen, and the control system calculates the cross-sectional size of the specimen; after the measurement is completed, the manipulator drives the specimen grabbing mechanism to send the specimen to the testing station of the testing machine; the following steps are included: S01: Initial state: The horizontal measurement component and the vertical measurement component are installed in place; the laser beam emitted by the left laser displacement sensor of the horizontal measurement component and the laser beam emitted by the right laser displacement sensor are adjusted so that they are on a horizontal X-axis axis; the laser beam emitted by the upper laser displacement sensor of the vertical measurement component and the laser beam emitted by the lower laser displacement sensor are on a vertical Z-axis axis; a three-dimensional measurement coordinate system having an X-axis, a Y-axis, and a Z-axis is set, and the Y-axis is perpendicular to the X-axis and the Z-axis in pairs; the X-axis and the Y-axis are located in a preset horizontal measurement plane, and the Y-axis and the Z-axis are located in a preset vertical measurement plane; Set the initial zero point position of the sample measurement: move the sample gripping mechanism connected to the working end of the manipulator to the front of the sample measuring device, and adjust it up and down so that the center plane of the thickness direction of the clamped sample is located in the plane where the X1 axis and the Y1 axis are located, and the length direction of the sample is parallel to the Y1 axis; then adjust it left and right so that the center plane of the width direction of the clamped sample is located in the plane where the Y1 axis and the Z1 axis are located, and record the coordinates of the manipulator at this time, which are the coordinates of the initial zero point position of the sample measurement; the X1 axis and the Y1 axis are located in the horizontal measurement plane preset in the three-dimensional measurement coordinate system, and the Y1 axis and the Z1 axis are located in the vertical measurement plane preset in the three-dimensional measurement coordinate system; S02: The samples are regularly stacked on the sample storage rack, and the samples are labeled with QR codes / bar codes at the specified positions; S03: The working end of the manipulator is at the origin; S1: The manipulator drives the sample grabbing mechanism to grab the sample from the sample storage rack; S2: The manipulator drives the sample grabbing mechanism to deliver the sample to the initial zero point position of the sample measurement; S3: The manipulator drives the sample grabbing mechanism to move according to the three-dimensional measurement motion coordinate system, and sends the sample to the sample measuring device along the Y1 axis. The horizontal measurement component and the vertical measurement component start measuring the sample at the same time, and obtain the distance b1 between the left laser displacement sensor and the sample, the distance b2 between the right laser displacement sensor and the sample, the distance h1 between the upper laser displacement sensor and the sample, and the distance h2 between the lower laser displacement sensor and the sample, and automatically upload the measurement data to the control system; S4: The control system calculates the width dimension B1 and the thickness dimension H1 of the first measurement position on the sample according to the following formula and the distance B0 between the left laser displacement sensor and the right laser displacement sensor and the distance H0 between the upper laser displacement sensor and the lower laser displacement sensor: B1=B0-b1-b2; H1=H0-h1-h2; S5: The manipulator drives the sample grabbing mechanism to continue moving along the Y1 axis, and sends the sample to the sample measuring device. The horizontal measuring component and the vertical measuring component start measuring the sample at the same time, and obtain the distance b3 between the left laser displacement sensor and the sample, the distance b4 between the right laser displacement sensor and the sample, the distance h3 between the upper laser displacement sensor and the sample, and the distance h4 between the lower laser displacement sensor and the sample, and automatically upload the measurement data to the control system; S6: The control system calculates the width dimension B2 and thickness dimension H2 of the second measurement position on the sample according to the following formula: B2=B0-b3-b4; H2=H0-h3-h4; S7: The control system automatically calculates the average value of B1 and B2 to obtain the width dimension of the sample; it automatically calculates the average value of H1 and H2 to obtain the thickness dimension of the sample; S8: The manipulator drives the sample grabbing mechanism and the sample to return to the initial zero point position of the sample measurement; S9: The manipulator drives the sample grabbing mechanism to send the sample into the test station of the testing machine and release the sample; S10: The working end of the manipulator returns to the origin position; S11: Repeat steps S1-S10 to measure and test the next specimen.

2. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 1, characterized in that: Between S2 and S3, there are further steps: S21: The manipulator drives the sample grabbing mechanism to move according to the three-dimensional measurement motion coordinate system, and sends the sample to the front side of the sample measuring device and below the QR code / barcode scanner along the Y1 axis; S22: The QR code / barcode scanner scans the QR code / barcode on the sample, obtains relevant information of the sample and uploads it to the control system.

3. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 2, characterized in that: The specimen measuring device comprises a bracket, the horizontal measuring component and the vertical measuring component are arranged on the upper part of the bracket, and the two-dimensional code / barcode scanner is arranged on the top of the bracket.

4. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 1, characterized in that: The horizontal measurement component includes a pair of left laser displacement sensors and right laser displacement sensors arranged opposite to each other, and the vertical measurement component includes a pair of upper laser displacement sensors and lower laser displacement sensors arranged opposite to each other; the upper, lower, left and right four laser displacement sensors form an open cross structure, and the sample can pass between the four laser displacement sensors.

5. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 1, characterized in that: The sample grabbing mechanism includes a parallel pneumatic finger cylinder, and the two parallel clamping jaws of the pneumatic finger cylinder are respectively connected to the first clamping plate and the second clamping plate, the rear ends of the first clamping plate and the second clamping plate are connecting parts, and the front ends are working parts, and the connecting parts are connected to the parallel clamping jaws; the pneumatic finger cylinder drives the two parallel clamping jaws to move toward each other or away from each other, driving the first clamping plate and the second clamping plate to clamp the specimen or release the specimen.

6. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 5, characterized in that: A rubber pad is provided on the side where the working part of the first clamping plate faces the working part of the second clamping plate.

7. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 5, characterized in that: A V-shaped groove is symmetrically provided on one side of the working portion of the first clamping plate facing the working portion of the second clamping plate.

8. The method for measuring the cross-sectional dimensions of a sample based on a manipulator according to claim 5, 6 or 7, characterized in that: The manipulator adopts a six-axis robot, and the pneumatic finger cylinder is connected to the wrist of the robot through a fixture adapter plate.

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